FiLM-Nav: VLMファインチューニングによる効率的で汎化可能なナビゲーション
FiLM-Nav: Efficient and Generalizable Navigation via VLM Fine-tuning
事前学習済みVLMをナビゲーション方策として直接ファインチューニングし、視覚履歴と目標から次の探索フロンティアを選ぶことで、未知物体カテゴリにも汎化する物体探索ナビゲーションを実現した。
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著者: Naoki Yokoyama, Sehoon Ha
分類: cs.RO
原文アブストラクト
Enabling robotic assistants to navigate complex environments and locate objects described in free-form language is a critical capability for real-world deployment. While foundation models, particularly Vision-Language Models (VLMs), offer powerful semantic understanding, effectively adapting their web-scale knowledge for embodied decision-making remains a key challenge. We present FiLM-Nav (Fine-tuned Language Model for Navigation), an approach that directly fine-tunes pre-trained VLM as the navigation policy. In contrast to methods that use foundation models primarily in a zero-shot manner or for map annotation, FiLM-Nav learns to select the next best exploration frontier by conditioning directly on raw visual trajectory history and the navigation goal. Leveraging targeted simulated embodied experience allows the VLM to ground its powerful pre-trained representations in the specific dynamics and visual patterns relevant to goal-driven navigation. Critically, fine-tuning on a diverse data mixture combining ObjectNav, OVON, ImageNav, and an auxiliary spatial reasoning task proves essential for achieving robustness and broad generalization. FiLM-Nav sets a new state-of-the-art in both SPL and success rate on HM3D ObjectNav among open-vocabulary methods, and sets a state-of-the-art SPL on the challenging HM3D-OVON benchmark, demonstrating strong generalization to unseen object categories. Our work validates that directly fine-tuning VLMs on diverse simulated embodied data is a highly effective pathway towards generalizable and efficient semantic navigation capabilities.
